Open-Closed-Loop PD Iterative Learning Control Corrected With the Angular Relationship of Output Vectors for a Flexible Manipulator

Open-Closed-Loop PD Iterative Learning Control Corrected With the Angular Relationship of Output Vectors for a Flexible Manipulator

A new iterative learning control (ILC) approach combined with an open-closed-loop PD scheme is presented for a flexible manipulator with a repeatable motion task in the case that only the endpoint pose of the flexible link is measurable. This approach takes advantage of the fact that the ILC perform...

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Bibliographic Details
Main Authors: Jian Dong, Bin He, Ming Ma, Chenghong Zhang, Gang Li
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Flexible manipulator
angular relationship
PD
open-closed-loop
iterative learning control
Online Access:https://ieeexplore.ieee.org/document/8769844/

Internet

https://ieeexplore.ieee.org/document/8769844/

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